A class describing an environment for a kinematic robot. This is the base (abstract) definition. Different implementations are possible. The class is aware of a set of obstacles and a robot model. The obstacles are placed in different namespaces so they can be added and removed selectively. More...

#include <environment.h>

Inheritance diagram for collision_space::EnvironmentModel:

[legend]

List of all members.

Classes
class	AllowedCollisionMatrix
	Definition of a structure for the allowed collision matrix. More...
struct	AllowedContact
	Definition of a contact that is allowed. More...
struct	Contact
	Definition of a contact point. More...
Public Types
typedef std::map< std::string, std::map< std::string, std::vector< AllowedContact > > >	AllowedContactMap
enum	BodyType { LINK, ATTACHED, OBJECT }
Public Member Functions
virtual void	addObject (const std::string &ns, shapes::StaticShape *shape)=0
	Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObject (const std::string &ns, shapes::Shape *shape, const tf::Transform &pose)=0
	Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObjects (const std::string &ns, const std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses)=0
	Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.
void	clearAllowedContacts ()
	clear out all allowed contacts
virtual void	clearObjects (void)=0
	Remove all objects from collision model.
virtual void	clearObjects (const std::string &ns)=0
	Remove objects from a specific namespace in the collision model.
virtual EnvironmentModel *	clone (void) const =0
	Clone the environment.
	EnvironmentModel (void)
virtual bool	getAllCollisionContacts (std::vector< Contact > &contacts, unsigned int num_per_contact=1) const =0
	This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.
virtual bool	getAllObjectEnvironmentCollisionContacts (const std::string &object_name, std::vector< Contact > &contacts, unsigned int num_contacts_per_pair) const =0
const std::vector < AllowedContact > &	getAllowedContacts () const
	gets the allowed contacts that will be used in collision checking
virtual void	getAttachedBodyPoses (std::map< std::string, std::vector< tf::Transform > > &pose_map) const =0
virtual bool	getCollisionContacts (std::vector< Contact > &contacts, unsigned int max_total=1, unsigned int max_per_pair=1) const =0
	Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that are in collision.
const AllowedCollisionMatrix &	getCurrentAllowedCollisionMatrix () const
double	getCurrentLinkPadding (std::string name) const
std::map< std::string, double >	getCurrentLinkPaddingMap () const
const AllowedCollisionMatrix &	getDefaultAllowedCollisionMatrix () const
const std::map< std::string, double > &	getDefaultLinkPaddingMap () const
const EnvironmentObjects *	getObjects (void) const
	Get the objects currently contained in the model.
const planning_models::KinematicModel *	getRobotModel (void) const
	Get the robot model.
double	getRobotPadding (void) const
	Get robot padding.
double	getRobotScale (void) const
	Get robot scale.
bool	getVerbose (void) const
	Check the state of verbosity.
virtual bool	hasObject (const std::string &ns) const =0
	Tells whether or not there is an object with the given name in the collision model.
virtual bool	isCollision (void) const =0
	Check if a model is in collision with environment and self. Contacts are not computed.
virtual bool	isEnvironmentCollision (void) const =0
	Check whether the model is in collision with the environment. Self collisions are not checked.
virtual bool	isObjectInEnvironmentCollision (const std::string &object_name) const =0
	Check if an object is in collision with the other static objects.
virtual bool	isObjectObjectCollision (const std::string &object1_name, const std::string &object2_name) const =0
	Check if two static objects are in collision.
virtual bool	isObjectRobotCollision (const std::string &object_name) const =0
	Check if a single static object is in collision with the robot.
virtual bool	isSelfCollision (void) const =0
	Check for self collision. Contacts are not computed.
void	lock (void) const
	Provide interface to a lock. Use carefully!
virtual void	revertAlteredCollisionMatrix ()
	reverts to using default settings for allowed collisions
virtual void	revertAlteredLinkPadding ()
virtual void	setAllowedContacts (const std::vector< AllowedContact > &allowed_contacts)
	sets the allowed contacts that will be used in collision checking
virtual void	setAlteredCollisionMatrix (const AllowedCollisionMatrix &acm)
	set the matrix for collision touch to use in lieu of the default settings
virtual void	setAlteredLinkPadding (const std::map< std::string, double > &link_padding_map)
virtual void	setRobotModel (const planning_models::KinematicModel *model, const AllowedCollisionMatrix &acm, const std::map< std::string, double > &link_padding_map, double default_padding=0.0, double scale=1.0)
	Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.
void	setVerbose (bool verbose)
	Enable/disable verbosity.
void	unlock (void) const
	Provide interface to a lock. Use carefully!
virtual void	updateAttachedBodies ()=0
	Update the set of bodies that are attached to the robot (re-creates them)
virtual void	updateRobotModel (const planning_models::KinematicState *state)=0
	Update the positions of the geometry used in collision detection.
virtual	~EnvironmentModel (void)
Protected Attributes
AllowedContactMap	allowed_contact_map_
std::vector< AllowedContact >	allowed_contacts_
AllowedCollisionMatrix	altered_collision_matrix_
std::map< std::string, double >	altered_link_padding_map_
AllowedCollisionMatrix	default_collision_matrix_
std::map< std::string, double >	default_link_padding_map_
double	default_robot_padding_
	padding used for robot links
boost::recursive_mutex	lock_
	Mutex used to lock the datastructure.
EnvironmentObjects *	objects_
	List of objects contained in the environment.
const planning_models::KinematicModel *	robot_model_
	Loaded robot model.
double	robot_scale_
	Scaling used for robot links.
bool	use_altered_collision_matrix_
bool	use_altered_link_padding_map_
bool	verbose_
	Flag to indicate whether verbose mode is on.

Detailed Description

A class describing an environment for a kinematic robot. This is the base (abstract) definition. Different implementations are possible. The class is aware of a set of obstacles and a robot model. The obstacles are placed in different namespaces so they can be added and removed selectively.

Definition at line 61 of file environment.h.

Member Typedef Documentation

typedef std::map<std::string, std::map<std::string, std::vector<AllowedContact> > > collision_space::EnvironmentModel::AllowedContactMap

Definition at line 103 of file environment.h.

Member Enumeration Documentation

enum collision_space::EnvironmentModel::BodyType

Enumerator:

LINK
ATTACHED
OBJECT

Definition at line 65 of file environment.h.

Constructor & Destructor Documentation

collision_space::EnvironmentModel::EnvironmentModel ( void ) [inline]

Definition at line 187 of file environment.h.

virtual collision_space::EnvironmentModel::~EnvironmentModel ( void ) [inline, virtual]

Definition at line 194 of file environment.h.

Member Function Documentation

virtual void collision_space::EnvironmentModel::addObject	(	const std::string &	ns,
		shapes::StaticShape *	shape
	)		`[pure virtual]`

Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual void collision_space::EnvironmentModel::addObject	(	const std::string &	ns,
		shapes::Shape *	shape,
		const tf::Transform &	pose
	)		`[pure virtual]`

Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual void collision_space::EnvironmentModel::addObjects	(	const std::string &	ns,
		const std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses
	)		`[pure virtual]`

Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

void collision_space::EnvironmentModel::clearAllowedContacts ( ) [inline]

clear out all allowed contacts

Definition at line 321 of file environment.h.

virtual void collision_space::EnvironmentModel::clearObjects ( void ) [pure virtual]

Remove all objects from collision model.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual void collision_space::EnvironmentModel::clearObjects ( const std::string & ns ) [pure virtual]

Remove objects from a specific namespace in the collision model.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual EnvironmentModel* collision_space::EnvironmentModel::clone ( void ) const [pure virtual]

Clone the environment.

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual bool collision_space::EnvironmentModel::getAllCollisionContacts	(	std::vector< Contact > &	contacts,
		unsigned int	num_per_contact = `1`
	)		const `[pure virtual]`

This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::getAllObjectEnvironmentCollisionContacts	(	const std::string &	object_name,
		std::vector< Contact > &	contacts,
		unsigned int	num_contacts_per_pair
	)		const `[pure virtual]`

Implemented in collision_space::EnvironmentModelODE.

const std::vector< collision_space::EnvironmentModel::AllowedContact > & collision_space::EnvironmentModel::getAllowedContacts ( ) const

gets the allowed contacts that will be used in collision checking

Definition at line 460 of file environment.cpp.

virtual void collision_space::EnvironmentModel::getAttachedBodyPoses ( std::map< std::string, std::vector< tf::Transform > > & pose_map ) const [pure virtual]

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::getCollisionContacts	(	std::vector< Contact > &	contacts,
		unsigned int	max_total = `1`,
		unsigned int	max_per_pair = `1`
	)		const `[pure virtual]`

Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that are in collision.

Implemented in collision_space::EnvironmentModelODE.

const collision_space::EnvironmentModel::AllowedCollisionMatrix & collision_space::EnvironmentModel::getCurrentAllowedCollisionMatrix ( ) const

Definition at line 389 of file environment.cpp.

double collision_space::EnvironmentModel::getCurrentLinkPadding ( std::string name ) const

Definition at line 441 of file environment.cpp.

std::map< std::string, double > collision_space::EnvironmentModel::getCurrentLinkPaddingMap ( ) const

Definition at line 431 of file environment.cpp.

const collision_space::EnvironmentModel::AllowedCollisionMatrix & collision_space::EnvironmentModel::getDefaultAllowedCollisionMatrix ( ) const

Definition at line 383 of file environment.cpp.

const std::map< std::string, double > & collision_space::EnvironmentModel::getDefaultLinkPaddingMap ( ) const

Definition at line 427 of file environment.cpp.

const collision_space::EnvironmentObjects * collision_space::EnvironmentModel::getObjects ( void ) const

Get the objects currently contained in the model.

Definition at line 339 of file environment.cpp.

const planning_models::KinematicModel * collision_space::EnvironmentModel::getRobotModel ( void ) const

Get the robot model.

Definition at line 344 of file environment.cpp.

double collision_space::EnvironmentModel::getRobotPadding ( void ) const

Get robot padding.

Definition at line 354 of file environment.cpp.

double collision_space::EnvironmentModel::getRobotScale ( void ) const

Get robot scale.

Definition at line 349 of file environment.cpp.

bool collision_space::EnvironmentModel::getVerbose ( void ) const

Check the state of verbosity.

Definition at line 329 of file environment.cpp.

virtual bool collision_space::EnvironmentModel::hasObject ( const std::string & ns ) const [pure virtual]

Tells whether or not there is an object with the given name in the collision model.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isCollision ( void ) const [pure virtual]

Check if a model is in collision with environment and self. Contacts are not computed.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isEnvironmentCollision ( void ) const [pure virtual]

Check whether the model is in collision with the environment. Self collisions are not checked.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isObjectInEnvironmentCollision ( const std::string & object_name ) const [pure virtual]

Check if an object is in collision with the other static objects.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isObjectObjectCollision	(	const std::string &	object1_name,
		const std::string &	object2_name
	)		const `[pure virtual]`

Check if two static objects are in collision.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isObjectRobotCollision ( const std::string & object_name ) const [pure virtual]

Check if a single static object is in collision with the robot.

Implemented in collision_space::EnvironmentModelODE.

virtual bool collision_space::EnvironmentModel::isSelfCollision ( void ) const [pure virtual]

Check for self collision. Contacts are not computed.

Implemented in collision_space::EnvironmentModelODE.

void collision_space::EnvironmentModel::lock ( void ) const

Provide interface to a lock. Use carefully!

Definition at line 372 of file environment.cpp.

void collision_space::EnvironmentModel::revertAlteredCollisionMatrix ( ) [virtual]

reverts to using default settings for allowed collisions

Definition at line 401 of file environment.cpp.

void collision_space::EnvironmentModel::revertAlteredLinkPadding ( ) [virtual]

Reverts link padding to that set at robot initialization

Reimplemented in collision_space::EnvironmentModelODE.

Definition at line 422 of file environment.cpp.

void collision_space::EnvironmentModel::setAllowedContacts ( const std::vector< AllowedContact > & allowed_contacts ) [virtual]

sets the allowed contacts that will be used in collision checking

Definition at line 450 of file environment.cpp.

void collision_space::EnvironmentModel::setAlteredCollisionMatrix ( const AllowedCollisionMatrix & acm ) [virtual]

set the matrix for collision touch to use in lieu of the default settings

Definition at line 396 of file environment.cpp.

void collision_space::EnvironmentModel::setAlteredLinkPadding ( const std::map< std::string, double > & link_padding_map ) [virtual]

Sets a temporary robot padding on the indicated links

Reimplemented in collision_space::EnvironmentModelODE.

Definition at line 405 of file environment.cpp.

void collision_space::EnvironmentModel::setRobotModel	(	const planning_models::KinematicModel *	model,
		const AllowedCollisionMatrix &	acm,
		const std::map< std::string, double > &	link_padding_map,
		double	default_padding = `0.0`,
		double	scale = `1.0`
	)		`[virtual]`

Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.

Reimplemented in collision_space::EnvironmentModelODE.

Definition at line 359 of file environment.cpp.

void collision_space::EnvironmentModel::setVerbose ( bool verbose )

Enable/disable verbosity.

Definition at line 334 of file environment.cpp.

void collision_space::EnvironmentModel::unlock ( void ) const

Provide interface to a lock. Use carefully!

Definition at line 377 of file environment.cpp.

virtual void collision_space::EnvironmentModel::updateAttachedBodies ( ) [pure virtual]

Update the set of bodies that are attached to the robot (re-creates them)

Implemented in collision_space::EnvironmentModelODE, and collision_space::EnvironmentModelBullet.

virtual void collision_space::EnvironmentModel::updateRobotModel ( const planning_models::KinematicState * state ) [pure virtual]